CN110435861A - It is a kind of realize ocean unmanned vehicles more navigate state, low energy consumption navigation hydrofoil unit - Google Patents
It is a kind of realize ocean unmanned vehicles more navigate state, low energy consumption navigation hydrofoil unit Download PDFInfo
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- CN110435861A CN110435861A CN201910628097.3A CN201910628097A CN110435861A CN 110435861 A CN110435861 A CN 110435861A CN 201910628097 A CN201910628097 A CN 201910628097A CN 110435861 A CN110435861 A CN 110435861A
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- hydrofoil
- solenoid valve
- hydraulic cylinder
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B1/00—Hydrodynamic or hydrostatic features of hulls or of hydrofoils
- B63B1/16—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving additional lift from hydrodynamic forces
- B63B1/24—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving additional lift from hydrodynamic forces of hydrofoil type
- B63B1/242—Mounting, suspension of the foils
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B1/00—Hydrodynamic or hydrostatic features of hulls or of hydrofoils
- B63B1/16—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving additional lift from hydrodynamic forces
- B63B1/24—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving additional lift from hydrodynamic forces of hydrofoil type
- B63B1/246—Arrangements of propulsion elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B1/00—Hydrodynamic or hydrostatic features of hulls or of hydrofoils
- B63B1/16—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving additional lift from hydrodynamic forces
- B63B1/24—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving additional lift from hydrodynamic forces of hydrofoil type
- B63B1/26—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving additional lift from hydrodynamic forces of hydrofoil type having more than one hydrofoil
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B1/00—Hydrodynamic or hydrostatic features of hulls or of hydrofoils
- B63B1/16—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving additional lift from hydrodynamic forces
- B63B1/24—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving additional lift from hydrodynamic forces of hydrofoil type
- B63B1/28—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving additional lift from hydrodynamic forces of hydrofoil type with movable hydrofoils
- B63B1/285—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving additional lift from hydrodynamic forces of hydrofoil type with movable hydrofoils changing the angle of attack or the lift of the foil
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B1/00—Hydrodynamic or hydrostatic features of hulls or of hydrofoils
- B63B1/16—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving additional lift from hydrodynamic forces
- B63B1/24—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving additional lift from hydrodynamic forces of hydrofoil type
- B63B1/28—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving additional lift from hydrodynamic forces of hydrofoil type with movable hydrofoils
- B63B1/30—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving additional lift from hydrodynamic forces of hydrofoil type with movable hydrofoils retracting or folding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/37—Moving-wave propellers, i.e. wherein the propelling means comprise a flexible undulating structure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
Abstract
The present invention disclose it is a kind of realize ocean unmanned vehicles navigate more state, low energy consumption navigation hydrofoil unit, including aircraft main body, the head and tail portion of aircraft main body be provided with preceding hydrofoil mechanism and rear hydrofoil mechanism；Aircraft main body is internally provided with hydraulic system；Preceding hydrofoil mechanism includes preceding hydrofoil, the fixed truss of hydrofoil mechanism, driving hydraulic cylinder, hydrofoil support rod, tie rod, displacement bar, hydrofoil linkage rack, wind spring and wind spring fixed block；The fixed truss rotation connection in driving hydraulic cylinder bottom end and hydrofoil mechanism, the ears connector and hydrofoil support rod on driving hydraulic cylinder top are rotatablely connected, and driving hydraulic cylinder is connect with hydraulic system by pipeline and connector；Hydraulic system is made of the interconnection of outer oil sac, solenoid valve, check valve, filter, pressure sensor, overflow valve, hydraulic pump and interior fuel tank；Hydrofoil mechanism is identical as the structure of preceding hydrofoil mechanism afterwards；The device is suitable in the water surface and underwater two kinds of operational configurations and is respectively provided with different operating modes.
Description
Technical field
The invention belongs to Yu Haiyang's unmanned vehicles fields, and in particular to a kind of achievable ocean unmanned vehicles are sharp in the water surface
Navigation and under water gliding navigation are promoted with wave energy, aircraft is made to have the water surface, underwater two kinds of low energy consumption operational configurations
Hydrofoil unit.
Background technique
Ocean unmanned vehicles refer to the unmanned systems in ocean navigation, be modern marine observation and resource detection it is important
Tool.According to navigation space, it is generally divided into water surface unmanned vehicles and two class of underwater unmanned vehicle.Surface navigation and underwater boat
Row is two different operational configurations, and to adapt to different navigation space and boat state, existing water surface unmanned vehicles are based on small more
The technical system of type ship, which is carried out, develops and builds, and technical system of the existing underwater unmanned vehicle mostly based on torpedo, submarine is opened
Exhibition is developed and is built.Boat state by the limitation of technology, above-mentioned two classes unmanned vehicles is single, is only capable of continuous work on water surface or under water
Make, is unable to satisfy the demand of the following ocean water surface, underwater more space multistories, joint observation.Although can navigate in the water surface and approximately level
Capable semi-submersible type unmanned vehicles have come out, but it is rare the water surface with low energy consumption can be achieved under underwater two kinds of boats state, continuously push away
Into the unmanned vehicles of navigation.
The mankind are gradually extended the exploration of ocean from offshore, coastal waters to off-lying sea, are mentioned to the endurance and self-supplying capacity of aircraft
Increasingly higher demands are gone out.Existing ocean unmanned vehicles mostly provide navigation propulsion, each electrical part by self-contained battery
Energy needed for work, reducing the consumption of aircraft self-energy is the important channel that realization endurance and self-supplying capacity are promoted.According to text
Statistics is offered, navigation promotes energy consumption accounting to be usually above 50%, therefore the propulsion for reducing unmanned vehicles drives energy consumption, and use is advanced
Propulsion actuation techniques to promoted unmanned vehicles endurance significant effect.
Wave energy is the clean energy resource being widely present in ocean, mainly there is wave-energy power generation and two kinds of powered by wave energy at present
Application approach.Wave-energy power generation is to convert wave energy to mechanical energy, and then be converted into electric energy and use or store, and energy converts rank
Duan Duo, efficiency are lower.It currently, is mainly that wave energy glides using the more mature ocean unmanned vehicles of powered by wave energy technology
Machine, wave energy aerodone are made of surface floating body, underwater hydrofoil array two parts, and the two is connected by umbilical cord, using under water
Hydrofoil array converts onward impulse for wave energy and surface floating body is driven to advance, but wave energy aerodone can only navigate in the water surface
Row, and there are separate structure complexity, connection umbilical cords easily to wind, it is poor to lay recycling task difficulty height, water surface mobility, is easy with wave
The defects of valley-fill.
The driving of aircraft submerged buoyancy generally adjusts immersion oil sac volume in maximum diving depth position using hydraulic system
Change aircraft natural buoyancy, and then realizes and float.Water is realized using the horizontal direction thrust that aircraft wing generates simultaneously
Square to movement, navigation mode is persistently promoted using approach such as propeller, hydraulic propellers compared to traditional submarine navigation device, under water
Buoyancy-driven has the advantage of low energy consumption, low noise.But it is limited to buoyancy-driven mechanism, buoyancy-driven aircraft must be back and forth to cut open
Face form plunging motion under water, can not continuously navigate by water in the water surface.
Summary of the invention
Purpose of the invention is to overcome the shortcomings in the prior art, provides a kind of realization ocean unmanned vehicles and navigates more
The hydrofoil unit that state, low energy consumption are navigated by water.So that aircraft is promoted navigation using wave energy in the water surface, can be driven under water by buoyancy
Dynamic gliding navigation, and can switch between two kinds of operational configurations.The present invention can make aircraft have the water surface and it is underwater two kinds it is low
Energy consumption sail mode promotes the endurance of ocean unmanned vehicles, expands its vertical navigation space in ocean.
The purpose of the present invention is what is be achieved through the following technical solutions:
It is a kind of realize ocean unmanned vehicles navigate more state, low energy consumption navigation hydrofoil unit, including aircraft main body is described
The head and tail portion of aircraft main body are provided with preceding hydrofoil mechanism and rear hydrofoil mechanism；Preceding hydrofoil mechanism and rear hydrofoil mechanism pass through
Square hole on the downside of aircraft main body reaches below aircraft；The aircraft main body is internally provided with hydraulic system；
The preceding hydrofoil mechanism includes preceding hydrofoil, the fixed truss of hydrofoil mechanism, driving hydraulic cylinder, hydrofoil support rod, tenses
Bar, displacement bar, hydrofoil linkage rack, wind spring and wind spring fixed block；The fixed truss in the driving hydraulic cylinder bottom end and hydrofoil mechanism turns
Dynamic connection, the ears connector and hydrofoil support rod on driving hydraulic cylinder top are rotatablely connected, and driving hydraulic cylinder passes through with hydraulic system
Pipeline is connected with connector；
The fixed truss of the hydrofoil support rod and hydrofoil mechanism is rotatablely connected, and guide rail installation is provided on the hydrofoil support rod
Slot, the guide rail mounting groove are equipped with linear guide, sliding block and limited block, sliding block and limited block are equipped in the linear guide
Linear reciprocating motion can be done along linear guide；The fixed truss rotation connection in one end of the tie rod and hydrofoil mechanism, tie rod
The other end and displacement bar are rotatablely connected；The displacement bar is fixed on the sliding block and does reciprocating linear with sliding block along linear guide
Movement；Limit hole is provided on the displacement bar, limited block, which is limited in limit hole, to be moved；The centre of the preceding hydrofoil is provided with
Slot is fixedly installed with the axis of hydrofoil across slot in preceding hydrofoil, hydrofoil universal driving shaft, axis of hydrofoil and hydrofoil is fixedly mounted in front of axis of hydrofoil
One end of the rotation connection of support rod lower end, hydrofoil universal driving shaft and the hydrofoil linkage rack is rotatablely connected, hydrofoil linkage rack it is another
End is rotatablely connected with limited block；The wind spring fixed block is fixed on hydrofoil support rod lower end, the both ends of the wind spring respectively with water
Wing axis is fixedly connected with wind spring fixed block, for providing restoring moment when preceding hydrofoil is rotated around axis of hydrofoil central axes；
The hydraulic system by outer oil sac, solenoid valve, check valve, filter, pressure sensor, overflow valve, hydraulic pump and
Interior fuel tank is connected with each other by pipeline and connector and is formed；
Hydrofoil mechanism uses same mechanism with preceding hydrofoil mechanism after described and each structural member and connection type are all the same, preceding water
The wing and rear hydrofoil appearance profile are mirror symmetry setting；
The hydrofoil unit is suitable for the water surface and underwater two kinds of operational configurations and is respectively provided with different operating modes.
Further, the driving hydraulic cylinder bottom end and hydrofoil mechanism are fixed between truss, ears connector and hydrofoil support
Between bar, hydrofoil support rod and hydrofoil mechanism are fixed between truss, one end of tie rod and hydrofoil mechanism are fixed between truss
Pass through connection pin shaft rotation connection.
Further, the displacement bar includes the first displacement bar and second displacement bar；Wind spring includes the first wind spring and second
Wind spring；Wind spring fixed block includes the first wind spring fixed block and the second wind spring fixed block.
Further, the sliding block includes the first sliding block, the second sliding block, third sliding block, Four-slider；The limited block packet
Include the first limited block, the second limited block；Linear guide includes first straight line guide rail, second straight line guide rail, third linear guide,
Four linear guides.
Further, under surface navigation state, hydrofoil support rod be located at aircraft axis upright position, by driving liquid
Cylinder pressure provides that active force is locked, preceding hydrofoil and rear hydrofoil by seawater and wind spring collective effect power, it is reciprocal around axis of hydrofoil central axes
Rotation drives limited block to do linear reciprocating motion；The upper and lower boundary of limit hole limits limited block maximum displacement position, and then limits
Make the full swing angle of preceding hydrofoil and rear hydrofoil；Wave energy is converted horizontal thrust by preceding hydrofoil and rear hydrofoil, pushes navigation
Device navigation；
Under water under operational configuration, hydrofoil support rod be located at aircraft axis parallel position, provided by driving hydraulic cylinder
Active force is locked, and preceding hydrofoil and rear hydrofoil are parallel with hydrofoil support rod axis with wind spring collective effect in hydrofoil linkage rack, and protect
Hold fixed, preceding hydrofoil and rear hydrofoil composition wing；
In the water surface and underwater two kinds of operational configuration handoff procedures, hydraulic system driving hydraulic cylinder piston rod is flexible, hydraulic
Cylinder piston rod drives hydrofoil support rod to rotate by ears connector, and in hydrofoil support rod rotary course, tie rod drives displacement bar
It is moved along hydrofoil support rod；Displacement bar is moved to limit hole bottom boundary and when limited block contacts, and displacement bar drives limited block to move
Dynamic, limited block drives preceding hydrofoil and rear hydrofoil to rotate by the slider-crank mechanism formed with hydrofoil linkage rack；Limit hole bottom
When boundary is separated with limited block, preceding hydrofoil and rear hydrofoil are returned to equilbrium position under wind spring effect.
Further, the section of the preceding hydrofoil and rear hydrofoil is all made of NACA0012 aerofoil profile, and appearance profile is semiellipse
Shape, chord length extend length direction and are gradually reduced.
Further, the aircraft main body is designed using streamlined structure, and section is gradual change ellipse, to reduce in water
Resistance coefficient when face, underwater navigation.
Further, in the hydraulic system, solenoid valve include the first solenoid valve, second solenoid valve, third solenoid valve and
4th solenoid valve, check valve include the first check valve, second one-way valve and third check valve；
Outer oil sac and contact with sea water, the outlet of outer oil sac connect the 4th solenoid valve, and the 4th electromagnetic valve outlet connects interior fuel tank,
4th solenoid valve is 2/2-way solenoid valve, for controlling oil circuit on-off between outer oil sac and interior fuel tank；Interior fuel-tank outlet
Hydraulic pump is connected, hydraulic pump outlet connects filter and overflow valve, and the outlet of filter connects third solenoid valve；The third electricity
Magnet valve is two-bit triplet solenoid valve, for switching hydraulic pump outlet oil circuit direction；The one of outlet connection of third solenoid valve the
Three check valves, third one-way valved outlet are connected to outer oil bag outlet；Another outlet of third solenoid valve is separately connected the first check valve
And second one-way valve, the outlet of the first check valve and second one-way valve is separately connected the first solenoid valve and second solenoid valve, described
First solenoid valve and second solenoid valve are two-bit triplet solenoid valve, for switching the oil circuit of driving hydraulic cylinder；First solenoid valve
Driving hydraulic cylinder and hydrofoil mechanism driving hydraulic cylinder, the first solenoid valve and the second electricity are separately connected with the oil-feed port of second solenoid valve
The unloading port of magnet valve is connected to interior fuel-tank outlet.
Compared with prior art, the beneficial effects brought by the technical solution of the present invention are as follows:
1. the hydrofoil mechanism in the present invention directly turns the vertical vibration (vertical with navigation direction) of fluid in the water surface stage
It is changed to forward thrust and aircraft is pushed to move, aircraft is made to have the ability for not depending on electric energy and persistently navigating by water in the water surface.It compares
Wave energy is converted into aircraft kinetic energy by wave-energy power generation technological approaches, driving hydrofoil, and conversion process of energy is simple, is lost
It is few, transfer efficiency with higher under the low speed of a ship or plane.Compared to existing wave energy aerodone actuation techniques approach, by head, tail portion
Two pairs of hydrofoil mechanisms replace existing hydrofoil array, and hydrofoil quantity substantially reduces.In addition, hydrofoil mechanism and aircraft head-tail are rigid
Property connection, avoid defect caused by the bi-body structure of existing wave energy aerodone.
2. the present invention realizes that aircraft is promoted in the water surface stage by wave energy, the stage relies on buoyancy-driven under water, with biography
The propeller propulsion mode of system, the present invention reduce the energy content of battery consumption of aircraft itself significantly, can extend aircraft
Duration in place and course continuation mileage.
3. hydrofoil mechanism position handoff functionality and aircraft submerged buoyancy regulatory function are integrated by present hydraulic system
One, the design scheme shared using valve member, reduces the complexity of hydraulic system.Hydraulic system selects zero leakage commutation
Valve can keep crust capsule volume constant with Position of Hydraulic Cylinder for a long time, reduce the starting frequency of hydraulic pump.
4. hydrofoil mechanism of the invention has boat state handoff functionality, conduct can be unfolded in aircraft downward vertical in the water surface stage
Wave energy converts propulsion device, provides forward thrust for aircraft；The underwater stage can folding in aircraft abdomen as aerodone
The wing provides gliding lift for aircraft.Hydrofoil section be it is streamlined, profile is half elliptic, can improve wave transfer efficiency.
5. the present invention it is compact to design it is small and exquisite, integrated level is high, can be applied to 100kg magnitude, the small-sized aircraft of 2m long scale
In.Hydrofoil mechanism is arranged in aircraft head-tail, and hydraulic system is independent bay section, easily integrates compared with aircraft and adaptability changes
It is few to make workload.
6. it is the configuration of the present invention is simple, reliable operation, at low cost, do not need special processing and special components, hydraulic valve piece
It is mature type product.
Detailed description of the invention
Fig. 1 is general structure schematic diagram under surface navigation state of the present invention；
Fig. 2 is hydrofoil mechanism structural schematic diagram before the present invention；
Fig. 3 is hydrofoil schematic diagram of mechanism before the present invention；
Fig. 4 is the structural schematic diagram of present hydraulic system；
Fig. 5 is present hydraulic system schematic illustration；
Fig. 6 a Fig. 6 b is monnolithic case outline drawing of the present invention；
Fig. 7 is preceding hydrofoil movement schematic diagram under water surface boat operational configuration of the present invention；
Fig. 8 is forward and backward hydrofoil stress diagram under surface navigation operational configuration of the present invention；
Fig. 9 is underwater navigation state lower stress schematic diagram of the present invention；
Figure 10 is hydrofoil schematic diagram of mechanism movement before the present invention；
Specific embodiment
Present invention is further described in detail with reference to the accompanying drawings and detailed description.In order to which this hair is better described
Bright embodiment, the certain components of attached drawing have omission, zoom in or out, and do not represent the size of actual product；To this field skill
For art personnel, the omitting of some known structures and their instructions in the attached drawings are understandable.
It is provided by the invention it is a kind of realize ocean unmanned vehicles navigate more state, low energy consumption navigation hydrofoil unit, it is main to wrap
It includes: preceding hydrofoil mechanism 1, hydraulic system 2, aircraft main body 3, rear hydrofoil mechanism 4, as shown in Figure 1.Before preceding hydrofoil mechanism 1 includes:
Hydrofoil 11, hydrofoil mechanism fixed truss 12, driving hydraulic cylinder 13, hydrofoil support rod 14, tie rod 15, displacement bar 16a, displacement bar
16b, hydrofoil linkage rack 17, wind spring 18a, wind spring 18b, wind spring fixed block 19a, wind spring fixed block 19b；Preceding hydrofoil 11 includes hydrofoil
Axis 111, hydrofoil universal driving shaft 112；Driving hydraulic cylinder 13 includes hydraulic cylinder piston rod 131, and top is fixedly connected with ears connector
132；It is provided with guide rail mounting groove 141 on hydrofoil support rod 14, further includes linear guide 142a, linear guide 142b, linear guide
142c, linear guide 142d, sliding block 143a, sliding block 143b, sliding block 143c, sliding block 143d and limited block 144a, limited block 144b,
As shown in Figure 2.
Preceding hydrofoil mechanism 1 is respectively bolted to 3 head of aircraft main body and tail portion with rear hydrofoil mechanism 4, passes through boat
3 downside square hole of row device main body reaches below aircraft.13 bottom end of driving hydraulic cylinder passes through with the fixed truss 12 of hydrofoil mechanism
Hydraulic cylinder connects pin shaft 133 and is rotatablely connected, and the ears connector 132 on top connect pin shaft by ears connector with hydrofoil support rod 14
134 rotation connections, driving hydraulic cylinder 13 is connect with hydraulic system 2 to be connected by pipeline and connector.Hydrofoil support rod 14 and hydrofoil
The fixed truss 12 of mechanism connects pin shaft 145 by hydrofoil support rod and is rotatablely connected, linear guide 142a, linear guide 142b, straight
Line guide rail 142c, linear guide 142d, which are screwed, to be mounted at guide rail mounting groove 141, sliding block 143a, sliding block 143b, sliding block
143c, sliding block 143d, which are respectively corresponded, is installed on linear guide 142a, linear guide 142b, linear guide 142c, linear guide
On 142d, self-lubricating linear reciprocating motion can be done along guide rail, frictional force is small, and motion range is without departing from linear guide 142a, straight
Line guide rail 142b, linear guide 142c, linear guide 142d.Limited block 144a, limited block 144b are separately mounted to linear guide
On 142c, linear guide 142d, self-lubricating linear reciprocating motion can be done along guide rail, frictional force is small, and motion range is without departing from straight
Line guide rail 142c, linear guide 142d.15 one end of tie rod fixes truss 12 with hydrofoil mechanism and connect pin shaft 151 by tie rod
Rotation connection, the other end are connect with displacement bar 16a, displacement bar 16b by pin rotation.Displacement bar 16a is screwed in cunning
On block 143a, sliding block 143c, displacement bar 16b is screwed on sliding block 143b, sliding block 143d, displacement bar 16a and displacement bar
16b can be linear reciprocating motion, displacement bar 16a, position along guide rail with sliding block 143a, sliding block 143b, sliding block 143c, sliding block 143d
It moves on bar 16b and is provided with limit hole 161；Limited block 144a, the top limited block 144b pass through limit hole 161, and motion range is limited
Position 161 up-and-down boundary of hole limitation.It slots among preceding hydrofoil 11, axis of hydrofoil 111 is being fixedly mounted close to center of effort position, preceding
Hydrofoil universal driving shaft 112 is fixedly mounted in edge position；Axis of hydrofoil 111 and 14 lower end of hydrofoil support rod are rotatablely connected, hydrofoil universal driving shaft 112
It is rotatablely connected with hydrofoil linkage rack 17,17 other end of hydrofoil linkage rack and limited block 144a, limited block 144b pass through pin rotation
Connection.Preceding hydrofoil 11,41 section of rear hydrofoil are NACA0012 aerofoil profile in the present embodiment, are designed using high aspect ratio, are had higher
Lift resistance ratio；Outer profile is half elliptic, and both ends chord length is smaller to advantageously reduce turbulent water.Wind spring fixed block 19a, wind spring are fixed
Block 19b is screwed in 14 lower end of hydrofoil support rod, wind spring 18a inner and outer ends respectively with axis of hydrofoil 111, wind spring fixed block
19a is fixedly connected, and wind spring 18b wind spring inner and outer ends are fixedly connected with axis of hydrofoil 111, fixed block 19b respectively, preceding hydrofoil 11 around
Axis of hydrofoil central axes provide restoring moment when rotating.
Preceding 1 schematic diagram of hydrofoil mechanism when hydraulic cylinder piston rod 131 stretches as shown in figure 3, drive hydrofoil support rod 14 around hydrofoil
Support rod connects pin shaft 145 and rotates, and tie rod 15 drives displacement bar 16a, displacement bar 16b to move along a straight line along hydrofoil support rod 14.
Hydrofoil 11 rotates before displacement bar 16a, displacement bar 16b are driven by hydrofoil linkage rack 17, preceding hydrofoil 11 simultaneously by wind spring 18a,
The return action power of wind spring 18b.
Preceding hydrofoil mechanism 1 and rear hydrofoil mechanism 4 be using same mechanism and each structural member and connection type it is all the same, only before
Hydrofoil 11 and rear 41 appearance profile of hydrofoil are mirror symmetry setting.
Hydraulic system 2 is by outer oil sac 21, solenoid valve 22a, solenoid valve 22b, solenoid valve 22c, solenoid valve 22d, check valve
23a, check valve 23b, check valve 23c, filter 24, pressure sensor 25, overflow valve 26, hydraulic pump 27, interior fuel tank 28 pass through
Pipeline connect composition with connector, as shown in figure 4, its schematic diagram is as shown in Figure 5.Outer oil sac 21 and contact with sea water, outlet connection electricity
The outlet magnet valve 22d, solenoid valve 22d connects interior fuel tank 28.Solenoid valve 22d is 2/2-way solenoid valve, for controlling outer oil sac 21
The oil circuit on-off between interior fuel tank 28 opens solenoid valve 22d, and hydraulic oil flows into interior oil in cabin in outer oil sac 21 under suction function
In case 28.The interior outlet of fuel tank 28 connects hydraulic pump 27, after hydraulic pump 27 is opened, hydraulic oil can be extracted out and be added from interior fuel tank 28
Pressure is discharged from outlet.The outlet of hydraulic pump 27 is connected to filter 24, overflow valve 26, and filter 24 overflows for filtering impurity in oil liquid
Off-load protective effect from flowing valve 26 when hydraulic fluid pressure is excessively high in pipeline.The outlet of filter 24 connection solenoid valve 22c, solenoid valve
22c is two-bit triplet reversing solenoid valve, for switching 27 drain pressure oil flow directions of hydraulic pump.Pressure sensor 25 is mounted on
Between filter 24 and solenoid valve 22c, for measuring oil liquid pressure.Solenoid valve 22c one outlet connects check valve 23c, unidirectionally
The outlet valve 23c is connected to outer oil sac 21.Another outlet solenoid valve 22c is separately connected check valve 23a and check valve 23b, check valve
The outlet 23a and check valve 23b is separately connected solenoid valve 22a and solenoid valve 22b, and solenoid valve 22a, solenoid valve 22b are two-bit triplet
Zero leakage solenoid valve, for switching driving hydraulic cylinder 13,43 oil circuit of driving hydraulic cylinder.Solenoid valve 22a and solenoid valve 22b oil-feed port
It is separately connected Driven by Hydraulic Cylinder hydraulic cylinder 13 and driving hydraulic cylinder 43, unloading port is connected to interior fuel tank 28 and exports.Driving hydraulic cylinder
43 are mounted in rear hydrofoil mechanism 4, and driving hydraulic cylinder 43 and driving hydraulic cylinder 13 are identical hydraulic cylinder, and mounting means and effect are equal
It is identical.
3 shape of aircraft main body designs for streamlined structure, and as shown in figures 6 a and 6b, section is gradual change ellipse, with
Reduce the resistance coefficient in the water surface, underwater navigation.
Specifically, the course of work of apparatus of the present invention are as follows:
Aircraft under surface navigation state, hydrofoil support rod 14 be located at aircraft axis upright position, by driving liquid
It is locked that cylinder pressure 13 provides active force.Preceding hydrofoil 11 and rear hydrofoil 41 are located at immediately below aircraft head and tail portion, are drawn at this time
Tight bar 15, displacement bar 16a, displacement bar 16b, sliding block 143a, sliding block 143b, sliding block 143c, sliding block 143d are fixed.Preceding water
When the wing 11 is in a horizontal position, limited block 144a, limited block 144b are located at 161 middle position of limit hole, wind spring 18a, wind spring 18b
In nature extended state, there is no active force to preceding hydrofoil 11.When preceding hydrofoil 11 does heaving with aircraft in wave, with
Relative vertical oscillating movement occurs for seawater, before seawater flows through when hydrofoil 11, in the comprehensive function of seawater and wind spring 18a, wind spring 18b
Under, preceding hydrofoil 11 deflects certain angle, as shown in figure 8, water velocity V1、V2It is in respectively centainly to attack with preceding hydrofoil 11, rear hydrofoil 41
Angle, water flow generate horizontal direction active force L respectively on preceding hydrofoil 11, rear hydrofoil 411、L2, L1、L2It drives aircraft to advance, hangs down
Straight component D1、D2Reduce pitching and the heaving of aircraft.In the process, preceding hydrofoil 11 is around 111 central axes of axis of hydrofoil in water
Two sides reciprocating rotation above and below plane, as shown in Figure 7.Preceding hydrofoil 11 constantly converts driving aircraft onward impulse for wave energy,
It drives limited block 144a, limited block 144b to do linear reciprocating motion in limit hole 161 by hydrofoil linkage rack 17 simultaneously, limits
The upper and lower boundary in hole 161 limits limited block 144a, limited block 144b maximum displacement position, limits the full swing angle of hydrofoil whereby
Degree, prevents the excessive generation stall of corner and reduces thrust.Under this operational configuration, preceding hydrofoil 11 and rear hydrofoil 41 are by wave energy
It is converted into aircraft onward impulse, aircraft is in the water surface by the continuous low-power consumption navigation of the external environment energy.
Aircraft is under water under operational configuration, hydrofoil support rod 14 be located at aircraft axis parallel position, by driving liquid
It is locked that cylinder pressure 13 provides active force.Preceding hydrofoil 11 forms cartouche wing with rear hydrofoil 41.When starting dive, hydraulic system
2 work, solenoid valve 22d are opened, and interior hydraulic oil is discharged into interior fuel tank 28 from outer oil sac 21 under the action of negative pressure, outer 21 volume of oil sac
Become smaller, aircraft displacement, buoyancy become smaller, aircraft dive, while aircraft centroid position changes, aircraft pitch attitude hair
Raw corresponding change.As shown in figure 9, aircraft gravity G is greater than buoyancy B, water velocity V and navigation during aircraft dive
There are angle of attack between device axis, water flow generates resistance D and lift L when flowing through wing, and resistance D is pushed away with lift L horizontal direction component
Dynamic aircraft travels forward.When starting to float, solenoid valve 22d is closed, and hydraulic pump 24 starts, and solenoid valve 22c switches oil circuit direction,
Hydraulic oil is discharged into outer oil sac 21 under the effect of hydraulic pump 27 from interior fuel tank 28, and outer 21 volume of oil sac becomes smaller, aircraft displacement
Increase, buoyancy becomes larger, and gravity is constant, and aircraft floats, and cooperation aircraft pitch attitude variation generates horizontally forward on wing
Thrust pushes aircraft to travel forward.In each porpoising period, aircraft hydraulic system 2 is only in rig ship for dive and maximum
Submerged depth position adjusts the outer 21 stereomutation aircraft natural buoyancy of oil sac that soaks, the porpoising generated using buoyancy variation
The gliding in water of the active force of middle wing, keeps remote low power operation under water.
When aircraft switches to surface navigation state by underwater navigation state, hydraulic pump 27 starts, by hydraulic oil from interior oil
Fluid pressure line is extracted and be pressed into case 28 out, and solenoid valve 22c switches oil circuit to driving hydraulic cylinder 13,43 direction of driving hydraulic cylinder, electromagnetism
Valve 22a switches to oil-filled direction, and solenoid valve 22b switches to inside 28 oil return direction of fuel tank, driving hydraulic cylinder 13, driving hydraulic cylinder
43 rod ends are oil-filled, rear end oil extraction, hydraulic oil effect under hydraulic cylinder piston rod 131 shrink, drive hydrofoil support rod 14 from
Horizontal position rotate to aircraft axis upright position.Later, the solenoid valve 22a, solenoid valve 22b of zero leakage keep spool position
Set constant, while check valve 23a, check valve 23b play the role of reversed cut-off, cut off driving hydraulic cylinder 13, driving hydraulic cylinder 43
Oil circuit is imported and exported, hydraulic oil does not flow, and hydraulic cylinder piston rod 131 is fixed, and then hydrofoil support rod 14 is locked in vertically
At position.Handoff procedure is as shown in Figure 10.
When aircraft switches to underwater navigation state by surface navigation state, hydraulic pump 27 starts, by hydraulic oil from interior oil
Fluid pressure line is extracted and be pressed into case 28 out, and solenoid valve 22c switches oil circuit to driving hydraulic cylinder 13,43 direction of driving hydraulic cylinder, electromagnetism
Valve 22a switches to inside 28 oil return direction of fuel tank, and solenoid valve 22b switches to oil-filled direction, driving hydraulic cylinder 13, driving hydraulic cylinder
43 rod end oil extractions, rear end is oil-filled, hydraulic oil effect under hydraulic cylinder piston rod 131 stretch out, drive hydrofoil support rod 14 from
Horizontal position rotate to aircraft axis upright position, later, solenoid valve 22a, the solenoid valve 22b of zero leakage keep spool position
Set constant, while check valve 23a, check valve 23b play the role of reversed cut-off, and hydraulic oil does not flow, and hydraulic cylinder piston rod 131 is solid
It is fixed motionless, and then hydrofoil support rod 14 is locked in horizontal position.Handoff procedure is as shown in Figure 10.Hydrofoil support rod 14 rotates
In the process, tie rod 15 pulls displacement bar 16a, displacement bar 16b to move along hydrofoil support rod 14, connects in 161 lower boundary of limit hole
Limited block 144a, limited block 144b is driven to move together after touching limited block 144a, limited block 144b, limited block 144a, limited block
Hydrofoil 11 overcomes the active force rotation of wind spring 18a, wind spring 18b before 144b is pulled by hydrofoil linkage rack 17, hydrofoil universal driving shaft 112
Extremely with 14 axis parallel position of hydrofoil support rod, it is close to 3 bottom of aircraft main body.Preceding hydrofoil 11 is in hydrofoil linkage rack 17 and wind spring
It is remained stationary under 18a, wind spring 18b collective effect.It is solenoid valve 22a, solenoid valve 22b and the check valve 23a of zero leakage, unidirectional
Valve 23b cuts off driving hydraulic cylinder 13, driving hydraulic cylinder 43 imports and exports oil circuit, and hydraulic cylinder piston rod 131 is fixed, hydrofoil support
Bar 14 is locked in horizontal position.Handoff procedure is as shown in Figure 10.
In the course of work, each component movement mode and effect are all the same in rear hydrofoil mechanism 4 and preceding hydrofoil mechanism 1,
1 direction of motion mirror symmetry of hydrofoil mechanism 4 and preceding hydrofoil mechanism afterwards.
The present invention is not limited to embodiments described above.Above the description of specific embodiment is intended to describe and say
Bright technical solution of the present invention, the above mentioned embodiment is only schematical, is not restrictive.This is not being departed from
In the case of invention objective and scope of the claimed protection, those skilled in the art may be used also under the inspiration of the present invention
The specific transformation of many forms is made, within these are all belonged to the scope of protection of the present invention.
Claims (8)
1. it is a kind of realize ocean unmanned vehicles navigate more state, low energy consumption navigation hydrofoil unit, including aircraft main body (3),
It is characterized in that, the head and tail portion of the aircraft main body (3) are provided with preceding hydrofoil mechanism (1) and rear hydrofoil mechanism (2)；Preceding water
Wing mechanism (1) and rear hydrofoil mechanism (2) pass through the square hole on the downside of aircraft main body (3) and reach below aircraft；The boat
Row device main body (3) is internally provided with hydraulic system (2)；
The preceding hydrofoil mechanism includes preceding hydrofoil (11), hydrofoil mechanism fixed truss (12), driving hydraulic cylinder (13), hydrofoil support
Bar (14), tie rod (15), displacement bar, hydrofoil linkage rack (17), wind spring and wind spring fixed block；Driving hydraulic cylinder (13) bottom
End is supported with hydrofoil mechanism fixed truss (12) rotation connection, the ears connector (132) and hydrofoil on driving hydraulic cylinder (13) top
Bar (14) rotation connection, driving hydraulic cylinder (13) are connect with hydraulic system (2) by pipeline and connector；
The hydrofoil support rod (14) and hydrofoil mechanism fixed truss (12) are rotatablely connected, and are provided on the hydrofoil support rod (14)
Guide rail mounting groove (141), the guide rail mounting groove (141) are equipped with linear guide, be equipped in the linear guide sliding block and
Limited block, sliding block and limited block can do linear reciprocating motion along linear guide；One end of the tie rod (15) and hydrofoil mechanism
Fixed truss (12) rotation connection, tie rod (15) other end and displacement bar are rotatablely connected；The displacement bar is fixed on the cunning
Linear reciprocating motion is done on block and with sliding block along linear guide；Limit hole (161) are provided on the displacement bar, limited block is limited
The movement in limit hole (161)；The centre of the preceding hydrofoil (11) is provided with slot, is fixedly installed in preceding hydrofoil (11) across slot
Axis of hydrofoil (111), hydrofoil universal driving shaft (112) are fixedly mounted in front of axis of hydrofoil (111), axis of hydrofoil (111) and hydrofoil support rod
(14) lower end is rotatablely connected, and one end of hydrofoil universal driving shaft (112) and the hydrofoil linkage rack (17) is rotatablely connected, hydrofoil linkage rack
(17) the other end and limited block is rotatablely connected；The wind spring fixed block is fixed on hydrofoil support rod (14) lower end, the wind spring
Both ends be fixedly connected respectively with axis of hydrofoil (111) and wind spring fixed block, in preceding hydrofoil (11) around axis of hydrofoil (111) axis
Line provides restoring moment when rotating；
The hydraulic system (2) is by outer oil sac (21), solenoid valve, check valve, filter (24), pressure sensor (25), overflow
Valve (26), hydraulic pump (27) and interior fuel tank (28) are connected with each other by pipeline and connector and are formed；
Hydrofoil mechanism (4) uses same mechanism with preceding hydrofoil mechanism (1) after described and each structural member and connection type are all the same, preceding
Hydrofoil (11) and rear hydrofoil (41) appearance profile are mirror symmetry setting；
The hydrofoil unit is suitable for the water surface and underwater two kinds of operational configurations and is respectively provided with different operating modes.
2. according to claim 1 it is a kind of realize ocean unmanned vehicles navigate more state, low energy consumption navigation hydrofoil unit, it is special
Sign is, between driving hydraulic cylinder (13) bottom end and hydrofoil mechanism fixed truss (12), ears connector (132) and hydrofoil branch
Between strut (14), between hydrofoil support rod (14) and hydrofoil mechanism fixed truss (12), one end of tie rod (15) and hydrofoil
Pass through connection pin shaft rotation connection between mechanism fixed truss (12).
3. according to claim 1 it is a kind of realize ocean unmanned vehicles navigate more state, low energy consumption navigation hydrofoil unit, it is special
Sign is that the displacement bar includes the first displacement bar (16a) and second displacement bar (16b)；Wind spring include the first wind spring (18a) and
Second wind spring (18b)；Wind spring fixed block includes the first wind spring fixed block (19a) and the second wind spring fixed block (19b).
4. according to claim 1 it is a kind of realize ocean unmanned vehicles navigate more state, low energy consumption navigation hydrofoil unit, it is special
Sign is that the sliding block includes the first sliding block (143a), the second sliding block (143b), third sliding block (143c), Four-slider
(143d)；Limited block includes the first limited block (144a), the second limited block (144b)；Linear guide includes first straight line guide rail
(142a), second straight line guide rail (142b), third linear guide (143c), the 4th linear guide (143d).
5. according to claim 1 it is a kind of realize ocean unmanned vehicles navigate more state, low energy consumption navigation hydrofoil unit, it is special
Sign is,
Under surface navigation state, hydrofoil support rod (14) be located at aircraft axis upright position, by driving hydraulic cylinder (13)
There is provided that active force is locked, preceding hydrofoil (11) and rear hydrofoil (41) by seawater and wind spring collective effect power, around axis of hydrofoil central axes
Reciprocating rotation drives limited block to do linear reciprocating motion；The upper and lower boundary limitation limited block dominant bit displacement of limit hole (161)
It sets, and then limits the full swing angle of preceding hydrofoil (11) and rear hydrofoil (41)；Preceding hydrofoil (11) and rear hydrofoil (41) are by wave
It can be converted into horizontal thrust, push aircraft flight；
Under water under operational configuration, hydrofoil support rod (14) be located at aircraft axis parallel position, by driving hydraulic cylinder (13)
It is locked to provide active force, preceding hydrofoil (11) and rear hydrofoil (41) are supported in hydrofoil linkage rack (17) and wind spring collective effect and hydrofoil
Rod axis is parallel, and remains stationary, and preceding hydrofoil (11) and rear hydrofoil (41) form wing；
In the water surface and underwater two kinds of operational configuration handoff procedures, hydraulic system driving hydraulic cylinder piston rod (131) is flexible, hydraulic
Cylinder piston rod (131) drives hydrofoil support rod (14) rotation, hydrofoil support rod (14) rotary course by ears connector (132)
In, tie rod (15) drives displacement bar mobile along hydrofoil support rod (14)；Displacement bar is moved to limit hole bottom boundary and limit
When block contacts, displacement bar drives limited block mobile, and limited block passes through the slider-crank mechanism band that forms with hydrofoil linkage rack (17)
Dynamic preceding hydrofoil (11) and rear hydrofoil (41) rotation；When limit hole bottom boundary is separated with limited block, preceding hydrofoil and rear hydrofoil are being rolled up
Equilbrium position is returned under spring effect.
6. according to claim 1 it is a kind of realize ocean unmanned vehicles navigate more state, low energy consumption navigation hydrofoil unit, it is special
Sign is that the section of the preceding hydrofoil (11) and rear hydrofoil (41) is all made of NACA0012 aerofoil profile, and appearance profile is half elliptic,
Chord length extends length direction and is gradually reduced.
7. according to claim 1 it is a kind of realize ocean unmanned vehicles navigate more state, low energy consumption navigation hydrofoil unit, it is special
Sign is that the aircraft main body (3) is designed using streamlined structure, and section is gradual change ellipse, to reduce in the water surface, under water
Resistance coefficient when navigation.
8. according to claim 1 it is a kind of realize ocean unmanned vehicles navigate more state, low energy consumption navigation hydrofoil unit, it is special
Sign is, in the hydraulic system (2), solenoid valve includes the first solenoid valve (22a), second solenoid valve (22b), third solenoid valve
(22c) and the 4th solenoid valve (22d), check valve include the first check valve (23a), second one-way valve (23b) and third check valve
(23c)；
The outlet of outer oil sac (21) and contact with sea water, outer oil sac (21) connects the 4th solenoid valve (22d), the 4th solenoid valve (22d)
Outlet connect in fuel tank (28), the 4th solenoid valve (22d) be 2/2-way solenoid valve, for control outer oil sac (21) with it is interior
Oil circuit on-off between fuel tank (28)；The outlet of interior fuel tank (28) even hydraulic pump (27), the outlet of hydraulic pump 27 be connected to filter (24) and
The outlet of overflow valve (26), filter (24) connects third solenoid valve (22c)；The third solenoid valve (22c) is two-bit triplet
Solenoid valve, for switching hydraulic pump (27) outlet oil circuit direction；The one of outlet connection third of third solenoid valve (22c) is unidirectional
Valve (23c), third check valve (23c) outlet are connected to outer oil sac (21) outlet；Another outlet of third solenoid valve (22c) connects respectively
Connect the first check valve (23a) and second one-way valve (23b), the outlet difference of the first check valve (23a) and second one-way valve (23b)
The first solenoid valve (22a) and second solenoid valve (22b) are connected, first solenoid valve (22a) and second solenoid valve (22b) are
Two-bit triplet solenoid valve, for switching the oil circuit of driving hydraulic cylinder (13)；First solenoid valve (22a) and second solenoid valve (22b)
Oil-feed port be separately connected driving hydraulic cylinder (13) and rear hydrofoil mechanism driving hydraulic cylinder (43), the first solenoid valve (22a) and the
The unloading port of two solenoid valves (22b) is connected to interior fuel tank (28) outlet；After hydrofoil mechanism driving hydraulic cylinder (43) is mounted on afterwards
In hydrofoil mechanism (4), rear hydrofoil mechanism driving hydraulic cylinder (43) and driving hydraulic cylinder (13) are identical hydraulic cylinder, mounting means and
It acts on all the same.
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